Torque command generation device

ABSTRACT

The purpose of the present invention is to provide a torque command generation device for generating a motor-generated-torque command that makes it possible to maximize excitation force while ensuring necessary acceleration, and the like, within a limited motor torque range. A torque command generation device (6) is provided with: a maximum torque calculation unit (633) for calculating, according to a motor speed, a maximum torque value for a motor-generated-torque-command signal value; a DC component limiter (635) for calculating a DC signal value; a surplus amplitude calculation unit (637) for calculating a surplus amplitude by subtracting the maximum torque value from the sum of the DC component value calculated by the DC component limiter (635) and an externally input excitation amplitude; a sine-wave transmitter (639) for generating a sine wave having an amplitude obtained by subtracting the surplus amplitude from a base amplitude; and a summing unit (640) for calculating the motor-generated-torque-command signal value by adding the DC component value and the sine wave value.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a Divisional of co-pending application Ser. No.14/787,238, filed on 26 Oct. 2015, which is a National Stage entry ofPCT/JP2014/061138, filed on 21 Apr. 2014 for which priority is claimedunder 35 U.S.C. § 120; and this application claims priority ofApplication No. 2013-094622 filed in Japan on 26 Apr. 2013 under 35U.S.C. § 119, the entire contents of all of which are herebyincorporated by reference.

TECHNICAL FIELD

The present invention relates to a torque command generation device. Inmore detail, it relates to a torque command generation device that isincorporated into a test system for drivetrains causing a torqueimitating an engine to be generated with a motor connected to a shaft ofthe drivetrain of a vehicle, the device generating amotor-generated-torque command signal for driving the motor.

BACKGROUND ART

Drivetrain refers to a general term for the plurality of devices fortransmitting the energy generated by an engine to the drive wheels, andis constituted by the engine, clutch, transmission, drive shaft,propeller shaft, differential gears, drive wheels, etc. In theperformance evaluation test for drivetrains, the durability performance,quality, etc. thereof are evaluated by actually continuously driving atransmission with an engine. In recent years, as a system that performssuch tests of drivetrains, a system has been proposed that generates thedrive torque inputted to a work with a motor instead of with an actualengine.

With an actual engine, cyclical torque variation arises due to thecombustion process in each cylinder. For this reason, the torque commandgeneration device generates a motor-generated-torque command signal bycompositing an AC signal of a predetermined excitation frequency andexcitation amplitude and a DC signal for driving at a predeterminedacceleration/deceleration, and inputs this to a motor driving device(e.g., inverter) (e.g., refer to Patent Documents 1, 2 and 3). The testsystem for drivetrains thereby performs a test imitating an actualengine.

Patent Document 1: Japanese Unexamined Patent Application, PublicationNo. 2002-71520

Patent Document 2: Japanese Unexamined Patent Application, PublicationNo. H8-83127

Patent Document 3: Japanese Unexamined Patent Application, PublicationNo. 2009-287986

DISCLOSURE OF THE INVENTION Problems to be Solved by the Invention

However, the motor driving device directly driving the motor operateswithin a predetermined allowable range considering the heat generationcharacteristics, mechanical strength, etc. unique to the motor beingused actually. This is realized by forcibly discarding a surplus amountexceeding the allowable range from the motor generation command signal,in the case of the value of the motor-generated-torque command signalsent from the torque command generation device being such that exceedsthe above-mentioned allowable range, for example. In many of the motordriving devices being used in test systems, such a torque limitingfunction is implemented in order to protect the devices constituting themotor and system. The adverse effects that can arise from the torquelimiting function will be explained in detail by referencing FIG. 13.

FIG. 13 is a graph showing a specific example of amotor-generated-torque command signal inputted from the torque commandgeneration device to a motor driving device. In FIG. 13, the thin solidline indicates the time change of the motor-generated-torque commandsignal that is generated in the torque command generation device. Morespecifically, this motor-generated-torque command signal is generated bycompositing a DC signal of 500 (Nm) and an AC signal characterized by anexcitation amplitude of 1000 (Nm) and an excitation frequency of 10(Hz). The torque command signal containing this DC component and ACcomponent comes to have a maximum value of 1500 (Nm), a minimum value of−500 (Nm), and an average value of 500 (Nm).

Herein, a case is considered of the motor driving device limiting thegenerated torque of the motor to between a maximum torque upper limitvalue defined at 1000 (Nm) and a maximum torque lower limit valuedefined at −1000 (Nm). In this case, with the motor driving device, thetorque command signal indicated by the thin solid line will be limitedto a signal such as that shown by the thick dotted line in actualpractice, since the surplus amount exceeding the maximum torque upperlimit value 1000 (Nm) in the torque command signal is forciblydiscarded.

In this case, as shown by the thick one-dot dashed line in FIG. 13, theaverage generated torque will decline from the original planned 500 (Nm)by the amount discarded according to the maximum torque upper limitvalue. Therefore, in the case of discarding occurring in the motordriving device, the average torque will shift, and it will no longer bepossible to achieve the required acceleration or deceleration(hereinafter referred to as “acceleration, etc.”). In addition, sincethe torque command signal deforms from a sine wave to a strain waveaccording to the discarding, the excitation force (excitation amplitude)also declines from the intended magnitude.

The present invention has been made taking the above such issues intoaccount, and has an object of providing a torque command generationdevice of a drivetrain test system that generates amotor-generated-torque command such that the excitation force can bemaximized, while ensuring the required acceleration, etc. within alimited range of motor torque.

Means for Solving the Problems

In order to achieve the above-mentioned object, a first aspect of thepresent invention provides a torque command generation device (e.g., thetorque command generation device 6 (FIG. 2), 6B (FIG. 6), 6C (FIG. 10)described later) that generates a motor-generated-torque command signalfor driving a motor in a drivetrain test system (e.g., the test system 1described later) for generating a torque imitating an engine of avehicle with a motor (e.g., the input-side dynamometer 2 describedlater) connected to a shaft of a drivetrain (e.g., the test piece Wdescribed later) of the vehicle. The torque command generation deviceincludes: a limit value calculation means (e.g., the maximum torquecalculation unit 633 (FIG. 2), 665 (FIG. 6), etc. described later) forcalculating a limit value for a value of the motor-generated-torquecommand signal according to a revolution speed of the motor; a DC signalgeneration means (e.g., the DC component limiter 635 (FIG. 2) and DCcomponent calculation unit 661 (FIG. 6) described later) for generatinga DC signal; an AC signal generation means (e.g., the maximum torquecalculation unit 633, limit amplitude calculation unit 634, provisionalvalue calculation unit 636, surplus amplitude calculation unit 637, ACcomponent limiter 638 and sine-wave transmitter 639 in FIG. 2; ACcomponent calculation unit 662, multiplying unit 663 and attenuationcoefficient calculation unit 666 in FIG. 6; and attenuation coefficientcalculation unit 666C in FIG. 10, etc. described later) for generatingan AC signal; and a compositing means (e.g., the summing unit 640 (FIG.2), 664 (FIG. 6), etc. described later) for compositing the DC signaland the AC signal to generate the motor-generated-torque command signal,in which the AC signal generation means generates the AC signal of anamplitude such that the value of the motor-generated-torque commandsignal does not exceed the limit value.

According to a second aspect, in this case, it is preferable for the ACsignal generation means to include: a surplus amplitude calculationmeans (e.g., the provisional value calculation unit 636, surplusamplitude calculation unit 637, etc. in FIG. 2 described later) forcalculating a surplus amplitude by subtracting the limit value from asum of a value of the DC signal and a predetermined base amplitude; anda transmission means (e.g., the sine-wave transmitter 639 in FIG. 2described later) for generating the AC signal of an amplitude obtainedby subtracting the surplus amplitude from the base amplitude.

According to a third aspect, in this case, it is preferable for the ACsignal generation means to further include a limit amplitude calculationmeans (e.g., the limit amplitude calculation unit 634 in FIG. 2described later) for calculating a limit amplitude according to afrequency of the AC signal, and the transmission means to generate theAC signal of the smaller amplitude among the limit amplitude and anamplitude obtained by subtracting the surplus amplitude from the baseamplitude.

According to a fourth aspect, in this case, it is preferable for the ACsignal generation means to include: a base signal generation means(e.g., the AC component calculation unit 662 in FIG. 6 described later)for generating a base AC signal; a multiplying means (e.g., themultiplying unit 663 in FIG. 6 described later) for generating the ACsignal by multiplying a predetermined amplitude attenuation coefficientby a value of the base AC signal; and a surplus amplitude limiting means(e.g., the surplus amplitude controller 671 in FIG. 8 described later)for determining the amplitude attenuation coefficient so that there isno deviation between a maximum value of the motor-generated-torquecommand signal and the limit value.

According to a fifth aspect, in this case, it is preferable for the ACsignal generation means to include: a frequency component detectionmeans (e.g., the frequency component detection unit 672 in FIG. 10described later) for detecting a frequency component of themotor-generated-torque command signal; a limit amplitude calculationmeans (e.g., the limit amplitude ratio calculation unit 673 in FIG. 10described later) for calculating a limit amplitude according to thefrequency of the motor-generated-torque command signal; a limit ratiocalculation means (e.g., the limit amplitude ratio calculation unit 673in FIG. 10 described later) for calculating a ratio of amplitudedetected by the frequency component detection means relative to thelimit amplitude calculated by the limit amplitude calculation means foreach of a plurality of different frequencies; and a limit amplitudelimiting means (e.g., the limit amplitude controller 675 in FIG. 10described later) for determining the amplitude attenuation coefficientso that the largest ratio among a plurality of ratios calculated by thelimit ratio calculation means becomes a predetermined target value.

In order to achieve the above-mentioned object, a sixth aspect of thepresent invention provides a torque command generation device (e.g., thetorque command generation device 6A in FIG. 4 described later) thatgenerates a motor-generated-torque command signal for driving a motor ina drivetrain test system for generating a torque imitating an engine ofa vehicle with a motor connected to a shaft of a drivetrain of thevehicle. The torque command generation device includes: a base valuecalculation means (e.g., the base value calculation unit 653 in FIG. 4described later) for calculating positive and negative torque limit basevalues (UpperLim_bs, LowerLim_bs) for the motor-generated-torque commandsignal according to a revolution speed of the motor; a correction means(e.g., the correction calculation unit 654 in FIG. 4 described later)for correcting the positive and negative torque limit base values andcalculating positive and negative torque limit values (UpperLim,LowerLim); and a torque command generating means (e.g., the torquelimiter 655 in FIG. 4 described later) for generating the motorgenerated torque command signal (Tdr_o) by discarding larger values thanthe positive torque limit value and smaller values than the negativetorque limit value from a base signal (Tdr_i) including a DC componentand AC component, in which the correction means, in a case of a surplusoccurring in the base signal relative to either one sign of the positiveand negative torque limit base values, corrects to the torque limit basevalue of the opposite sign to a smaller absolute value.

According to a seventh aspect, in this case, it is preferable, in a caseof a surplus occurring in the base signal (Tdr_i) relative to either onesign of the positive and negative torque limit base values, for thecorrection means to correct the torque limit base value of the oppositesign by adding a value (L_cor, U_cor) obtained by subtracting the torquelimit base value of one sign from the sum of a value of a DC componentof the base signal and an extreme value of the base signal on a side ofthe one sign, to the torque limit base value of the opposite sign.

Effects of the Invention

The first aspect of the present invention generates amotor-generated-torque command signal by compositing a DC signal and anAC signal. In particular, the present invention calculates a limit valuefor the value of this motor-generated-torque command signal according tothe revolution speed of the motor, and generates an AC signal of anamplitude such that the value of the motor-generated-torque commandsignal does not exceed this limit value. By generating amotor-generated-torque command signal such that does not exceed thelimit value in the torque command generation device in this way, it ispossible to prevent being forcibly discarded in an unintended state inthe motor driving device subsequently, and the average torque deviatingfrom the intended magnitude. In addition, with the present invention,when configuring so that the value of the motor-generated-torque commandsignal does not exceed the limit value according to the motor revolutionspeed, since the amplitude not of the DC signal set in association withthe acceleration, etc., but rather the AC signal set in association withthe excitation force is suppressed, it is possible to prevent theaverage torque from deviating accompanying suppression of the amplitude.In addition, by preventing the average torque from deviating, it ispossible to generate a motor-generated-torque command signal such thatcan maximize the excitation force, while ensuring the requiredacceleration, etc.

The second aspect of the present invention calculates the surplusamplitude by subtracting the limit value from the sum of the value ofthe DC signal and the value of a predetermined base amplitude. Thissurplus amplitude corresponds to a surplus amount by which exceeding thelimit value in the motor-generated-torque command signal generated, inthe case of defining the amplitude of the AC signal as theabove-mentioned base amplitude. With the present invention, it ispossible to prevent the value of the motor-generated-torque commandsignal from exceeding the limit value by generating an AC signal of anamplitude obtained by subtracting the above-mentioned surplus amplitudefrom the base amplitude. In addition, the present invention calculates asurplus amplitude irrespective of a feedback loop, and generates themotor-generated-torque command signal using this surplus amplitude. Inother words, since the present invention generates themotor-generated-torque command signal so as not to exceed the limitvalue by way of an open loop structure, in the case of varying thefrequency of the AC signal or base amplitude, it is possible to quicklyfollow this change.

In the case of performing excitation according to the AC component usingthe motor-generated-torque command signal in which the AC componentoverlap as in the third aspect of the present invention, when thefrequency rises, eddy current loss occurs and heat tends to generate inthe motor. The present invention calculates the limit amplitudeaccording to the frequency of the AC signal, separately from theabove-mentioned limit value, then compares between the amplitudecalculated so as not to exceed the limit value (base amplitude−surplusamplitude) and this limit amplitude, and generates an AC signal of thesmaller amplitude. It is thereby possible to generate amotor-generated-torque command signal that is appropriately limited towithin the operating range established from the revolution speed of themotor (i.e. within the operating range established according to thelimit value) and within the operating range established from theexcitation frequency of the motor (i.e. within the operating rangeestablished according to the limit amplitude).

The fourth aspect of the present invention generates an AC signal bygenerating a base AC signal, and then multiplying the amplitudeattenuation coefficient determined so that there is no deviation betweenthe maximum value of the motor-generated-torque command signal and thelimit value, by the value of this base AC signal. By generating an ACsignal such that the motor-generated-torque command signal does notexceed the limit value by multiplying the amplitude attenuationcoefficient by the value of the base AC signal in this way, it ispossible to make the base AC signal not simply a sine wave, but rather astrain wave following high-order frequency components. Therefore, it ispossible to generate a motor-generated-torque command signal of a strainwave close to the combustion waveform of an actual engine, within theoperating range established from the revolution speed of the motor. Inaddition, with the present invention, contrary to the above-mentionedsecond aspect of the present invention, a feedback loop is involved inthe reduction of the AC component of the motor-generated-torque commandsignal. For this reason, the present invention can include a modulehaving a function of varying the amplitude of the AC component (e.g.,the resonance suppression controller described later) inside thisfeedback loop.

The fifth aspect of the present invention detects the frequencycomponent of the motor-generated-torque command signal by way of thefrequency component detection means, and further calculates the ratio ofthe amplitude detected by the frequency component detection meansrelative to the above-mentioned limit amplitude for each of a pluralityof different frequencies. Then, by determining the amplitude attenuationcoefficient so that the largest ratio among these ratios calculated forevery frequency becomes a predetermined target value, it is possible togenerate a motor-generated-torque command signal that is appropriatelylimited to within the operating range established from the motorrevolution speed and within an operating range established from thefrequency of the motor.

The sixth aspect of the present invention calculates the positive (e.g.,driving direction) and negative (e.g., absorbing direction) torque limitbase values according to the revolution speed of the motor, andcalculates the positive and negative torque limit values by correctingthese base values. Then, the motor generated torque command signal isgenerated by discarding values exceeding these torque limit values fromthe base signal. By generating a motor-generated-torque command signalso as not to exceed the limit value in the torque command generationdevice in this way, it is possible to prevent being forcibly discardedin an unintended state in the motor driving device subsequently, and theaverage torque deviating from the intended magnitude. In addition, thepresent invention, in the case of a surplus occurring in the base signalrelative to the torque limit base value of either one sign of positiveand negative, corrects the torque limit base value of the opposite signto the one in which this surplus occurred so that the absolute valuethereof becomes smaller, i.e. the amplitude is further limited. In thecase of surplus occurring in either one sign of positive and negative inthe base signal, since not only discarding the one sign side, but alsodiscarding the other sign side, it is thereby possible to prevent theaverage torque from deviating accompanying the discarding. In addition,by preventing the average torque from deviating, it is possible togenerate a motor-generated-torque command signal such that can maximizethe excitation force, while ensuring the required acceleration, etc.

The seventh aspect of the present invention, in the case of surplusoccurring in the base signal relative to the torque limit base value ofeither one sign among positive and negative, corrects this torque limitbase value by adding a value obtained by subtracting the torque limitbase value of the above-mentioned one sign side from the sum of thevalue of the DC component of the base signal and the extreme value onthe above-mentioned one sign side, to the torque limit base value of theother sign side. In the case of surplus occurring on either one side ofpositive and negative, the base signal has the surplus amountsymmetrically discarded on both sides of positive and negative. It isthereby possible to make both the decline in the excitation forceproportional to the amplitude of the AC component of themotor-generated-torque command signal and the deviation of the averagetorque to be minimums.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram showing the configuration of a test system fordrivetrains to which a torque command generation device according to anembodiment of the present invention is incorporated;

FIG. 2 is a block diagram showing the configuration of a torque commandgeneration device of Example 1;

FIG. 3 is a block diagram showing the configuration of a torque commandgeneration device of Example 2;

FIG. 4 is a block diagram showing a sequence of specific calculationprocessing to calculate the value of a motor-generated-torque commandsignal of a torque restrictor;

FIG. 5 is a view showing a specific example of a motor-generated-torquecommand signal generated by the torque restrictor;

FIG. 6 is a block diagram showing the configuration of a torque commandgeneration device of Example 3;

FIG. 7 is a graph showing an example of a torque command signalgenerated by a combustion simulation waveform generator;

FIG. 8 is a block diagram showing a specific sequence of calculating anamplitude attenuation coefficient in an attenuation coefficientcalculation unit;

FIG. 9 is a view made by extracting only modules related to thedetermination of the amplitude of an AC component of themotor-generated-command signal, in the torque command generation deviceof Example 3;

FIG. 10 is a block diagram showing the configuration of an attenuationcoefficient calculation unit of Example 4;

FIG. 11 is a graph showing frequency components of a torque commandsignal;

FIG. 12 is a graph showing limit amplitude ratios for every frequencyorder; and

FIG. 13 is a graph showing a specific example of amotor-generated-torque command signal inputted from the torque commandgeneration device to a motor driving device.

PREFERRED MODE FOR CARRYING OUT THE INVENTION

Hereinafter, an embodiment of the present invention will be explained indetail while referencing the drawings.

FIG. 1 is a block diagram showing the configuration of a test system 1for drivetrains in which a torque command generation device 6 accordingto the present embodiment is incorporated. It should be noted that,although an example of the test system 1 in which the transmission of aFF drive-type vehicle is established as a test piece W, the presentinvention is not limited thereto. The test piece W may be thetransmission of a FR drive-type vehicle.

The test system 1 includes: an input-side dynamometer 2 that iscoaxially coupled with the input shaft S1 of the test piece W; aninverter 3 that supplies electric power to this input-side dynamometer2; a rotation detector 4 that detects the revolution speed (angularspeed) of the input-side dynamometer 2; a torque command generationdevice 6 that generates a motor-generated-torque command signal based ona detected value, etc. of this rotation detector 4; and output-sidedynamometers 7,8 coupled to both ends of the output shaft S2 of the testpiece, respectively.

The rotation detector 4 detects the revolution speed of the input-sidedynamometer 2, and sends a signal substantially proportional to thedetected value to the torque command generation device 6. Hereinafter,the revolution speed of the input-side dynamometer is referred to as“motor revolution speed”.

The inverter 3 converts DC electric power supplied from a DC powersource not illustrated into AC electric power, and supplies to theinput-side dynamometer 2. The torque command generation device 6generates a motor-generated-torque command signal for driving theinput-side dynamometer 2, based on the motor revolution speed detectedby the rotation detector 4, and inputs to the inverter 3. The detailedconfiguration of this torque command generation device 6 will beexplained later in each example.

With the test system 1, the durability performance, product quality,etc. of the test piece W are evaluated by causing a torque imitating anactual engine to be generated by the input-side dynamometer 2, andabsorbing the transmission output of the test piece W by the output-sidedynamometers 7 and 8, while inputting this torque to the input shaft S1of the test piece W.

EXAMPLE 1

Next, Example 1 of the torque command generation device of theabove-mentioned embodiment will be explained while referencing thedrawings.

FIG. 2 is a block diagram showing the configuration of the torquecommand generation device 6 of the present example.

When command values for the base torque, excitation frequency andexcitation amplitude are inputted from an external computational devicethat is not illustrated, the torque command generation device 6generates a motor-generated-torque command signal according to theseinputs, and inputs to the inverter 3. The motor-generated-torque commandsignal generated by the torque command generation device 6 is basicallya signal made by compositing a DC signal serving as the base torque, anda sine wave signal of a frequency and amplitude according to theexcitation frequency and excitation amplitude. However, as explainedbelow, predetermined limits are provided for the amplitudes of the DCsignal and sine wave signal. Herein, base torque corresponds to acomponent arrived at by excluding a torque pulse component of an engine,in the torque generating by the dynamometer to imitate a real engine,and excitation frequency and excitation amplitude correspond to thefrequency and amplitude of the above-mentioned torque pulse component.Hereinafter, the specific sequence of calculating the value of themotor-generated-torque command signal in the torque command generationdevice 6 will be explained.

A maximum torque calculation unit 633 calculates a value of the maximumtorque, which is a limiting value for the motor-generated-torque commandsignal, by way of searching a map established in advance based on themotor revolution speed detected by the rotation detector. As explainedbelow, the torque command generation device 6 generates amotor-generated-torque command signal so as not to exceed the maximumtorque value calculated by the maximum torque calculation unit 633.According to the map exemplified in FIG. 2, the maximum torque value isset to a smaller value as the motor revolution speed increases, byconsidering the heat generation characteristics, mechanical strength,etc. of the input-side dynamometer.

A limit amplitude calculation unit 634 calculates a limit amplitudeserving as a limiting value for the amplitude of the AC component of themotor-generated-torque command signal, by searching a map established inadvance based on the excitation frequency inputted from outside. Asexplained below, the torque command generation device 6 generates amotor-generated-torque command signal so that the amplitude of this ACcomponent does not exceed the limit amplitude calculated by the limitamplitude calculation unit 634. The input-side dynamometer considers theaspect of demagnetizing with less torque as the excitation frequencyrises, and the limit amplitude is set so as to decrease as theexcitation frequency rises as shown in the map exemplified in FIG. 2.

Among a command value for the base torque inputted from outside and amaximum torque value calculated by the maximum torque calculation unit633, a DC component limiter 635 establishes the smaller one as a decidedDC component value. As described later in detail, the decided DCcomponent value calculated by the DC component limiter 635 serves as theDC component value of the motor-generated-torque command signal.Therefore, this DC component limiter 635 has a function of generatingthe DC signal of the motor-generated-torque command signal.

A provisional value calculation unit 636 calculates an AC/DC summedvalue by summing the decided DC component value and the command valuefor the excitation amplitude inputted from outside. This AC/DC summedvalue corresponds to a provisional value of the motor-generated-torquecommand signal prior to conducting limitation on the AC component.

A surplus amplitude calculation unit 637 calculates a surplus amplitudeby subtracting the maximum torque value from the AC/DC summed value.This surplus amplitude corresponds to the amplitude that should beexcluded from the AC component in order to make so that the value of themotor-generated-torque command signal does not exceed the maximum torquevalue. Therefore, in the case of the value obtained by subtracting themaximum torque value from the AC/DC summed value being negative, sinceit means that it is not necessary to limit the amplitude of the ACcomponent, surplus amplitude is set as 0 in this case.

An AC component limiter 638 compares between the amplitude obtained bysubtracting the surplus amplitude from the excitation amplitude inputtedfrom outside and the limit amplitude calculated by the limit amplitudecalculation unit 634, and then sets the smaller one as the decided ACamplitude. A sine-wave transmitter 639 generates a sine wave of theexcitation frequency and the decided AC amplitude calculated by the ACcomponent limiter 638.

A summing unit 640 calculates a value of the motor-generated-torquecommand signal by summing the decided DC component value calculated bythe DC component limiter 635 and the value of the sine wave generated bythe sine-wave transmitter 639. For the amplitude of the sine wavegenerated by the sine-wave transmitter 639, the surplus amplitude isremoved by the function of the above-mentioned AC component limiter 638.Therefore, the motor-generated-torque command signal generated by thesumming unit 640 is limited to no more than the maximum torque value. Inaddition, the amplitude of the sine wave generated by the sine-wavetransmitter 639 is limited to no more than the limit amplitude by way ofthe function of the AC component limiter 638. Therefore, the amplitudeof the AC component of the motor-generated-torque command signalgenerated by the summing unit 640 is limited to no more than the limitamplitude.

The following effects are exerted according to Example 1 explainedabove.

(1) Example 1 generates an AC signal of an amplitude such that the valueof the motor-generated-torque command signal does not exceed the maximumtorque value calculated according to the motor revolution speed. It isthereby possible to prevent the generated motor-generated-torque commandsignal from being forcedly discarded in an unintended state of theinverter, and the average torque deviating from the intended magnitude.In addition, in Example 1, since not the amplitude of the DC component,but rather the AC component of the motor-generated-torque command signalis suppressed, it is possible to prevent the average torque fromdeviating. In addition, by preventing the average torque from deviating,it is possible to generate a motor-generated-torque command signal suchthat can maximize the excitation force while ensuring the necessaryacceleration, etc.

(2) In Example 1, it is possible to prevent the value of themotor-generated-torque command signal from exceeding the maximum torquevalue, by generating a sine wave of an amplitude obtained by subtractingthe surplus amplitude calculated by the surplus amplitude calculationunit 637 from the excitation amplitude inputted from outside. Inaddition, as shown in FIG. 2, since a motor-generated-torque commandsignal so as not to exceed the maximum torque value is generated by anopen loop structure, in the case of the command values for base torque,excitation frequency, excitation amplitude, etc. being changed, it ispossible to quickly follow this change.

(3) In Example 1, the limit amplitude according to the excitationfrequency is calculated by the limit amplitude calculation unit 634,separately from the maximum torque value. Then, the AC component limiter638 compares between the amplitude obtained by subtracting the surplusamplitude from the excitation amplitude inputted from outside and theabove-mentioned limit amplitude, and sets the smaller one as the decidedAC amplitude. It is thereby possible to generate amotor-generated-torque command value that is appropriately limited towithin the operating range established according to the maximum torquevalue appropriately limited to and within established according to thelimit amplitude.

In Example 1 explained above, the DC component limiter 635, etc.correspond to a DC signal generation means, the summing unit 640corresponds to a compositing means; and the maximum torque calculationunit 633, limit amplitude calculation unit 634, provisional valuecalculation unit 636, surplus amplitude calculation unit 637, ACcomponent limiter 638 and sine-wave transmitter 639 correspond to an ACsignal generation means. In more detail, the maximum torque calculationunit 633 corresponds to a limit value calculation means, the limitamplitude calculation unit 634 corresponds to a limit amplitudecalculation means, the provisional value calculation unit 636 andsurplus amplitude calculation unit 637 correspond to a surplus amplitudecalculation means, and the AC component limiter 638 and sine-wavetransmitter 639 correspond to a transmitting means.

EXAMPLE 2

Next, Example 2 of the torque command generation device of theabove-mentioned embodiment will be explained while referencing thedrawings. It should be noted that in the following explanation ofExample 2, configurations that are the same as Example 1 will beassigned the same reference symbol, and a detailed explanation will beomitted.

FIG. 3 is a block diagram showing the configuration of a torque commandgeneration device 6A of the present example.

The torque command generation device 6A includes a waveform generator61A, a resonance suppression controller 62A and a torque restrictor 63A.The torque command generation device 6A generates a primary torquecommand signal by way of the waveform generator 61A, inputs this to theresonance suppression controller 62A and torque restrictor 63A, sets asignal arrived at by subjecting to the processing of these as the finalmotor-generated torque command signal, and inputs to the inverter 3.

When the base torque command value, excitation frequency command valueand excitation amplitude command value are inputted from an externalarithmetic unit that is not illustrated, the waveform generator 61Agenerates a torque command signal according to these inputs. Thewaveform generator 61 generates a torque command signal by compositingthe DC signal of a level proportionate to the base torque command value,and a sine-wave signal of a frequency and amplitude according to theexcitation frequency command value and excitation amplitude commandvalue.

The resonance suppression controller 62A suppresses the resonancephenomenon, which occurs accompanying excitation of a mechanical systemaccording to the excitation frequency, by way of causing the amplitudein the vicinity of a resonance point of the mechanical system consistingof the input-side dynamometer 2, test piece W, etc. to attenuate for thetorque command signal generated by the waveform generator 61A. Thetorque restrictor 63A generates a motor-generated-torque command signalby conducting the processing shown in FIG. 4 on the torque commandsignal arrived at by subjecting to the above-mentioned resonancesuppression controller, and inputs to the inverter 3.

FIG. 4 is a block diagram showing a specific sequence of calculating thevalue of the motor-generated-torque command signal in the torquerestrictor 63A of the torque command generation device 6A in the presentexample.

The DC component calculation unit 651 calculates the value of the DCcomponent of the torque command signal during one period sought from theexcitation frequency. Hereinafter, the torque command signal isindicated by “Tdr_i”, and the DC component value of the torque commandsignal calculated by the DC component calculation unit 651 is indicatedby “Tdr_i_DC”. A peak value calculation unit 652 calculates a maximumvalue and minimum value for the torque command signal during one perioddemanded from the excitation frequency. Hereinafter, the maximum valueof the torque command signal calculated by the peak value calculationunit 652 is indicated by “V_upper”, and the minimum value thereof isindicated by “V_lower”.

A base value calculation unit 653 calculates positive and negativemaximum torque base values serving as the base values of the limitvalues for the value of the motor-generated-torque command signal, bysearching a map established in advance based on the motor revolutionspeed detected by the rotation detector. Hereinafter, the positivemaximum torque base value is indicated by “UpperLim_bs(≥0)”, referringto the maximum torque base upper limit. In addition, the negativemaximum torque base value is indicated by “LowerLim_bs (<0)”, referringto the maximum torque base lower limit. Similarly to the maximum torquecalculation unit 633 of FIG. 2, the map deciding the these maximumtorque base upper and lower limits is established by considering theheat generation characteristics and mechanical strength of theinput-side dynamometer. More specifically, for example, the maximumtorque base upper limit is set to a smaller value on the positive sideas the motor revolution speed increases, and the maximum torque baselower limit is set to a smaller value on the negative side as the motorrevolution speed increases.

A correction calculation unit 654 calculates a positive maximum torqueupper limit and a negative maximum torque lower limit by correcting theabove-mentioned maximum torque base upper limit UpperLim_bs and lowerlimit LowerLim_bs so that the absolute values thereof become smaller,based on DC component value Tdr_iDC, maximum value V_upper and minimumvalue V_lower of the torque command signal. Hereinafter, the maximumtorque upper limit is indicated by “UpperLim (≥0)”, and the maximumtorque lower limit is indicated by “LowerLim (<0)”. Hereinafter, thespecific sequence of correction by the correction calculation unit 654will be explained.

The correction calculation unit 654 sets a value arrived at by addingthe positive lower limit correction value L_cor (>0) calculated by alower limit correction value calculation unit 654 a to the maximumtorque base lower limit LowerLim_bs as the maximum torque lower limitLowerLim (refer to formula (1) below), and sets a value arrived at byadding a negative upper limit correction value U_cor (<0) calculated byan upper limit correction value calculation unit 654 b to the maximumtorque base upper limit UpperLim_bs as a maximum torque upper limitvalue UpperLim (refer to formula (2) below).LowerLim=LowerLim_bs+L_cor  (1)UpperLim=UpperLim_bs+U_cor  (2)

The lower limit correction value calculation unit 654 a sets a valueobtained by subtracting the maximum torque base upper limit UpperLim_bsfrom the sum of the maximum value V_upper of the torque command signaland the DC component value Tdr_i_DC, as the lower limit corrected valueL_cor, as shown in formula (3) below. Herein, since the negative maximumtorque base lower limit LowerLim_bs is corrected so the absolute valuethereof becomes smaller, the lower limit corrected value L_cor islimited to be a positive value. In other words, in the case of the valueon the right side in formula (3) below becoming negative, the lowerlimit corrected value L_cor is set to 0.L_cor=V_upper+Tdr_i_DC−UpperLim_bs  (3)

The upper limit correction value calculation unit 654 b sets a valueobtained by subtracting the maximum torque base lower limit LowerLim_bsfrom the sum of the minimum value V_lower of the torque command signaland the DC component value Tdr_iDC, as the upper limit correction valueU cor, as shown in formula (4) below. Herein, since the positive maximumtorque base upper limit UpperLim_bs is corrected so that the absolutevalue thereof becomes smaller, the upper limit corrected value U_cor islimited so as to be a negative value. In other words, in a case of thevalue on the right side of formula (4) below becoming positive, theupper limit correction value U_cor is set to 0.U_cor=V_Lower+Tdr_i_DC−LowerLim_bs  (4)

The torque limiter 655 generates a motor-generated-torque command signalTdr_o by discarding values larger than the maximum torque upper limitUpperLim and values smaller than the maximum torque lower limit LowerLimcalculated by the correction calculation unit 654, from the torquecommand signal Tdr_i.

FIG. 5 is a graph showing a specific example of a motor-generated-torquecommand signal generated by the torque restrictor of Example 2. In FIG.5, the thin solid line indicates the torque command signal Tdr_i, andthe thick dotted line indicates the motor-generated-torque commandsignal Tdr_o obtained by the torque restrictor of Example 2. Morespecifically, a signal obtained by compositing a DC signal of 500 (Nm)(Tdr_i_DC=500) with an AC signal characterized by an excitationamplitude of 2000 (Nm) and excitation frequency of 10 (Hz)(Tdr_i_AC=2000*sin(10*27πt) is used in the torque command signal Tdr_i.In addition, the maximum torque base upper limit UpperLim_bs is set as2000 (Nm), and the maximum torque base lower limit LowerLim_bs is set as−2000 (Nm).

As shown in FIG. 5, a surplus of 500 (Nm) arises relative to thepositive maximum torque base upper limit UpperLim_bs in the torquecommand signal shown by the thin solid line. In this case, a valuearrived at by adding the lower limit corrected value L_cor of 1000 (Nm)to the maximum torque base lower limit LowerLim_bs of the opposite signas the UpperLim_bs for which surplus occurred becomes the maximum torquelower limit LowerLim, according to the function of the correctioncalculation unit 654 of FIG. 4. For this reason, the torque commandsignal Tdr_i is discarded also on the negative side by the same amountas the surplus occurring on the positive side, as shown in FIG. 5.Therefore, the average torque is maintained as is at 500 (Nm) with thetorque command signal Tdr_i and motor-generated-torque command signalTdr_o.

The following effects are exerted according to Example 2 explainedabove.

(4) In Example 2, the maximum torque base upper limit UpperLim_bs andlower limit LowerLim_bs are calculated according to the motor revolutionspeed, and the maximum torque upper limit UpperLim and lower limitLowerLim are calculated by correcting these base values. Then, themotor-generated-torque command signal Tdr_o is generated by discardingvalues exceeding these limit values UpperLim, LowerLim from the torquecommand signal Tdr_i. It is thereby possible to prevent the generatedmotor-generated-torque command signal from being forcedly discarded inan unintended state in the inverter, and the average torque shiftingfrom the intended magnitude. In addition, in Example 2, it is alsopossible to generate a motor-generated-torque command signal so as tomaximize the excitation force while maintaining the requiredacceleration, etc., by preventing the average torque from deviating.

(5) In Example 2, in the case of surplus occurring relative to the limitvalue of either one sign of positive and negative (UpperLim_bs,LowerLim_bs) in the torque command signal Tdr_i, this limit value(UpperLim_bs, LowerLim_bs) is corrected by adding a value obtained bysubtracting the limit value on the above-mentioned one sign side(UpperLim_bs, LowerLim_bs) from the sum of the DC component valueTdr_i_DC of the torque command signal Tdr_i and the extreme value(V_Upper, V_Lower) on the above-mentioned one sign side of the torquecommand signal, to the limit value on the other sign side (UpperLim_bs,LowerLim_bs). In the case of a surplus occurring on either one side ofpositive and negative, the torque command signal Tdr_i has the surplusamount discarded symmetrically on both sides of positive and negative,as explained referencing FIG. 5. It is thereby possible to make both thedecline in the excitation force proportional to the amplitude of the ACcomponent of the motor-generated-torque command signal Tdr_o and thedeviation of average torque to be minimums. In addition, according toExample 2, since the motor-generated-torque command signal limited asshown in FIG. 5 becomes close to a square wave, it is possible toincrease the root mean squared value of the AC component compared toExample 1.

In Example 2 explained above, the base value calculation unit 653corresponds to a base value calculation means, the correctioncalculation unit 654 corresponds to a correction means, and the torquelimiter 655 corresponds to a torque command generation means.

EXAMPLE 3

Next, Example 3 of the torque command generation device of theabove-mentioned embodiment will be explained while referencing thedrawings.

FIG. 6 is a block diagram showing the configuration of a torque commandgeneration device 6B of the present example.

The torque command generation device 6B includes a combustion simulationwaveform generator 61B that generates a primary torque command signal;and a torque restrictor 63B that generates a motor-generated-torquecommand signal by conducting the limit processing explained below on thetorque command signal generated by the combustion simulation waveformgenerator 61B.

The combustion simulation waveform generator 61B generates a signal of awaveform imitating the generated torque of an actual engine as thetorque command signal.

FIG. 7 is a view showing an example of a torque command signal generatedby a combustion simulation waveform generator 61B. In order to perform atest more closely to an actual engine, the combustion simulationwaveform generator 61B outputs a strain wave generated by compositing aDC signal and an AC signal containing a plurality of frequencycomponents as the torque command signal.

Referring back to FIG. 6, the torque restrictor 63B is configured toinclude a DC component calculation unit 661 that calculates the value ofa DC component of the torque command signal; an AC component calculationunit 662 that calculates the value of an AC component of the torquecommand signal; a multiplying unit 663 that attenuates the amplitude ofthe AC signal by multiplying a predetermined amplitude attenuationcoefficient; a summing unit 664 that composites the AC signal withattenuated amplitude and the DC signal again to generate amotor-generated-torque command signal; a maximum torque calculation unit665 that calculates the maximum torque value serving as a limit valuefor the value of the motor-generated-torque command signal; and anattenuation coefficient calculation unit 666 that calculates theamplitude attenuation coefficient. Hereinafter, these functions will bespecifically explained.

The DC component calculation unit 661 calculates the value of the DCcomponent of the torque command signal during one cycle sought from thelowest order frequency of the torque command signal. The AC componentcalculation unit 662 calculates the value of the AC component of thetorque command signal by subtracting the value of the DC componentcalculated by the DC component calculation unit 661 from the value ofthe torque command signal.

The maximum torque calculation unit 665 calculates the positive maximumtorque upper limit value and the negative maximum torque lower limitvalue serving as the limit values for the motor-generated-torque commandsignal, by searching a map established in advance based on the motorrevolution speed detected by the rotation detector. It should be notedthat the map determining this maximum torque upper limit value and lowerlimit value is the same as that used for the base value calculation unit653 explained referencing FIG. 4 in Example 2; therefore, a detailedexplanation will be omitted.

The attenuation coefficient calculation unit 666 calculates theamplitude attenuation coefficient following the sequence explained laterby referencing FIG. 8, so that the value of the motor-generated-torquecommand signal is no more than the maximum torque upper limit value andat least the maximum torque lower limit value calculated by the maximumtorque calculation unit 665.

The multiplying unit 663 multiplies the amplitude attenuationcoefficient calculated by the attenuation coefficient calculation unit666 by the value of the AC component calculated by the AC componentcalculation unit 662, and sets this as the attenuated AC componentvalue.

The summing unit 664 calculates the value of the motor-generated-torquecommand signal by summing the DC component value calculated by the DCcomponent calculation unit 661 and the attenuated AC component valuecalculated by the multiplying unit 663. The above-mentioned amplitudeattenuation coefficient is determined so that the value of themotor-generated-torque command signal becomes within the range betweenthe maximum torque upper limit value and maximum torque lower limitvalue, according to the function of the attenuation coefficientcalculation unit 666. Therefore, the motor-generated-torque commandsignal generated by the summing unit 664 is mostly limited to within therange between the maximum torque upper limit value and maximum torquelower limit value.

FIG. 8 is a block diagram showing a specific sequence of calculating theamplitude attenuation coefficient in the attenuation coefficientcalculation unit 666.

The peak value calculation unit 667 calculates the maximum value andminimum value of the motor-generated-torque command signal during onecycle sought from the lowest order frequency of the torque commandsignal. Multiplying units 668 a, 668 b multiply a predetermined margincoefficient that is smaller than 1 (e.g., 0.95) by the positive maximumtorque upper limit value and negative maximum torque lower limit value.

A deviation calculation unit 669 sets whichever one is larger among thesurplus amplitude on the drive side obtained by subtracting the maximumtorque upper limit value from the maximum value of themotor-generated-torque command signal, and the surplus amplitude on theabsorbing side obtained by subtracting the minimum value of themotor-generated-torque command signal from the maximum torque lowerlimit value.

A multiplying unit 670 calculates the non-dimensionalized deviation bymultiplying a predetermined coefficient by the surplus amplitude havingthe dimension of torque. A surplus amplitude control 671 calculates theamplitude attenuation coefficient such that the deviation calculated bythe multiplying unit 670 disappears. A controller with a built-inintegrator that sets steady-state deviation to 0 is used in this surplusamplitude controller 671.

In addition to the effect of (1) of Example 1, the following effects areexerted according to Example 3 explained above.

(6) In Example 3, the amplitude attenuation coefficient is determined sothat the deviation between the maximum value (or minimum value) of themotor-generated-torque command signal and the maximum torque upper limitvalue (or lower limit value) disappears, and the AC component of themotor-generated-torque command signal is determined by multiplying thisby the AC component value extracted from the torque command signal. Itis thereby possible to make the base AC signal generated by thecombustion simulation waveform generation unit 61B to be a strain signalsuch as that shown in FIG. 7. Therefore, it is possible to generate amotor-generated-torque command signal of a strain wave close to thecombustion waveform of an actual engine, within an operating rangedetermined from the motor revolution speed.

FIG. 9 is a view made by extracting only modules related to thedetermination of the amplitude of an AC component of themotor-generated-command signal, in the torque command generation 6Bdevice of Example 3 shown in FIG. 6.

As is clear by comparing Example 3 shown in FIG. 9 and Example 2 shownin FIG. 3, with the torque command generation device 6B of Example 3,the computation of the amplitude attenuation coefficient to reduce theAC component of the motor-generated-torque command signal follows afeedback loop. For this reason, with Example 3, it is possible toinclude a resonance suppression controller 62A having a function ofvarying the amplitude of the AC component in this feedback loop.

In Example 3 explained above, the maximum torque calculation unit 665corresponds to a limit value calculation means, the DC componentcalculation unit 661 corresponds to a DC signal generation means, thesumming unit 664 corresponds to a compositing means, and the ACcomponent calculation unit 662, multiplying unit 663 and attenuationcoefficient calculation unit 666 correspond to an AC signal generationmeans. In more detail, the AC component calculation unit 662 correspondsto a base signal generation means, the multiplying unit 663 correspondsto a multiplying means, and the surplus amplitude controller 671corresponds to a surplus amplitude limiting means.

EXAMPLE 4

Next, Example 4 of the torque command generation device of theabove-mentioned embodiment will be explained while referencing thedrawings. It should be noted that in the following explanation ofExample 4, configurations that are the same as Example 3 will beassigned the same reference symbol, and a detailed explanation will beomitted.

FIG. 10 is a block diagram showing the configuration of an attenuationcoefficient calculation unit 666C of the present example. The torquecommand generation device 6C of Example 4 differs in the configurationof the attenuation coefficient calculation unit 666C from the torquecommand generation device 6B of Example 3. The attenuation coefficientcalculation unit 666C of Example 4 differs from Example 3 in the aspectof including a limit amplitude controller 675 in addition to the surplusamplitude controller 671 of Example 3, and setting the smaller one amongthe two coefficients calculated by these two controllers 671, 675 as theamplitude attenuation coefficient. Hereinafter, the functions added overExample 3 will be explained by referencing FIG. 10.

A frequency component detection unit 672 detects the frequency componentof the torque command signal based on information related to thefrequency of the torque command signal sent from the combustionsimulation waveform generation unit 61B (refer to FIG. 6). As shown inFIG. 7, the torque command signal is generated to overlap the AC signalof a plurality of frequencies on top of the DC component. The frequencycomponent detection unit 672 detects the frequency components of thetorque command signal, and calculates the amplitude for every order (B1,B2, . . . Bn).

A limit amplitude ratio calculation unit 673 calculates the limitamplitude for every order (A1, A2, . . . An) based on a map such as thatshown in FIG. 12. Since the same map as that for the limit amplitudecalculation unit 634 explained by referencing FIG. 2 in Example 1 isused in the map determining this limit amplitude, a detailed explanationwill be omitted. The limit amplitude ratio calculation unit 673calculates the ratio of amplitudes (B1, B2, . . . Bn) calculated by thefrequency component detection unit 672 relative to the calculated limitamplitudes (A1, A2, . . . An) for every order, and sets these as thelimit amplitude ratios (B1/A1, B2/A2, . . . Bn/An).

A maximum ratio selection unit 674 selects the largest ratio from amongthe limit amplitude ratios (B1/A1, B2/A2, . . . Bn/An) calculated forevery order. According to the example shown in FIG. 12, the limitamplitude ratio for the second frequency (B2/A2) is the largest.Therefore, in this case, all of the frequency components can be madesmaller than the limit amplitude by determining an amplitude attenuationcoefficient so that the amplitude of the second frequency component isno more than 1.

A limit amplitude controller 675 calculates the amplitude attenuationcoefficient so that the largest limit amplitude ratio selected by themaximum ratio selection unit 674 becomes a predetermined target value(e.g., 1). In this limit amplitude controller 675, a controller with abuilt-in integrator that sets the steady-state deviation between thelimit amplitude ratio and the target value to 0 is used, similarly tothe surplus amplitude controller 671.

A minimum value selection unit 676 sets the smaller one among thecoefficient calculated by the surplus amplitude controller 671 and thecoefficient calculated by the limit amplitude controller 675, i.e. theone for which the amplitude of the AC signal is more stronglyrestricted, as the amplitude attenuation coefficient.

According to Example 4 explained above, the following effects areexerted in addition to the effects of (1) of Example 1 and (6) ofExample 3.

(7) In Example 4, the frequency component of the motor-generated-torquecommand signal is detected by the frequency component detection unit672, and the ratio (limit amplitude ratio) of amplitudes detected by thefrequency component detection unit 672 relative to a limit amplitude isfurther calculated for every order of frequency. Then, the amplitudeattenuation coefficient is determined so that the largest ratio amongthese limit amplitude ratios calculated for every order becomes 1. It isthereby possible to generate a motor-generated-torque command signalthat is appropriately limited to within the operating range establishedfrom the motor revolution speed and within the operating rangeestablished from the frequency of the motor.

In Example 4 explained above, the frequency component detection unit 672corresponds to the frequency component detection means, and the limitamplitude ratio calculation unit 673 corresponds to a limit amplitudecalculation means and limit ratio calculation means, which correspond toa limit amplitude controller.

EXPLANATION OF REFERENCE NUMERALS

W test piece, 1 test system for drivetrain, 2 input-side dynamometer(motor), 6 torque command generation device, 633 maximum torquecalculation unit (AC signal generation means, limit value calculationmeans), 634 limit amplitude calculation unit (AC signal generationmeans, limit value calculation means), 635 DC component limiter (DCsignal generation means), 636 provisional value calculation unit (ACsignal generation means, surplus amplitude calculation means), 637surplus amplitude calculation unit (AC signal generation means, surplusamplitude calculation means), 638 AC component limiter (AC signalgeneration means, transmission means), 639 sine-wave transmitter (ACsignal generation means, transmission means), 640 summing unit(compositing means), 6A torque command generation device, 63A torquerestrictor, 653 base value calculation unit (base value calculationmeans), 654 correction calculation unit (correction means), 655 torquelimiter (torque command generation means), 6B torque command generationdevice, 661 DC component calculation unit (DC signal generation means),662 AC component calculation unit (AC signal generation means, basesignal generation means), 663 multiplying unit (AC signal generationmeans, multiplying means), 664 summing unit (compositing means), 665maximum torque calculation unit (limit value calculation means), 666attenuation coefficient calculation unit (AC signal generation means),671 surplus amplitude controller (surplus amplitude control means), 6Ctorque command generation device, 666C attenuation coefficientcalculation unit (AC signal generation means), 672 frequency componentdetection unit (frequency component detection means), 673 limitamplitude ratio calculation unit (limit amplitude calculation means,limit ratio calculation means), 675 limit amplitude controller (limitamplitude limiting means).

The invention claimed is:
 1. A torque command generation device thatgenerates a motor-generated-torque command signal for driving a motor ina drivetrain test system for generating a torque imitating an engine ofa vehicle with a motor connected to a shaft of a drivetrain of thevehicle, the device comprising: a base value calculation unit forcalculating positive and negative torque limit base values for themotor-generated-torque command signal according to a revolution speed ofthe motor; a correction unit for correcting the positive and negativetorque limit base values and calculating positive and negative torquelimit values; and a torque command generating unit for generating themotor generated torque command signal by discarding larger values thanthe positive torque limit value and smaller values than the negativetorque limit value from a base signal including a DC component and ACcomponent, wherein the correction unit, in a case of a surplus occurringin the base signal relative to either one sign of the positive andnegative torque limit base values, corrects to the torque limit basevalue of the opposite sign to a smaller absolute value.
 2. The torquecommand generation device according to claim 1, wherein, in a case of asurplus occurring in the base signal relative to either one sign of thepositive and negative torque limit base values, the correction unitcorrects the torque limit base value of the opposite sign by adding avalue obtained by subtracting the torque limit base value of one signfrom the sum of a value of a DC component of the base signal and anextreme value of the base signal on a side of the one sign, to thetorque limit base value of the opposite sign.